Singularity-robust trajectories are created by the object RcPathTrajectory, defined in RcPathTrajectory.h. A manual page for the object is found in either RcPathTrajectory.1 or RcPathTrajectory.ps. A simple example of usage is given in simpleExamp.cc Other files are described below. To build and run the simple example, do % make simpleExamp % <TARGDIR>/simpleExamp where is the target-specific subdirectory for your system (e.g., X86Linux for linux systems). To build the testbed, just do % make testbed Then you can try the following commands: % <TARGDIR>/testbed -DSEL -DPUMA_PARAB // example 1 in the paper % <TARGDIR>/testbed -DSEL -DPUMA_OUTIN // example 2 in the paper % <TARGDIR>/testbed -DSEL -DPUMA_READY_WRIST // example 3 in the paper The following options to testbed may also be interesting: -printError prints out path errors -printTrag prints the coordinates for the final computed trajectory -printKnots prints detailed info about each knot point -printJnts prints coordinate values at each knot point There are lots of other options; see testbed -help. Predefined options can be placed in a file called testbed.opt; you can place options in there or edit existing ones. If you think it looks like this file gets run through the C preprocessor, you're right :) Moreover, by giving testbed arguments of the form -DXXX or -DYYY=xyz, you can provide predfined constants which get applied when this file is read in. ----------------------------------------------------------------------- File manifest: RcPathTrajectory.cc - main trajectory generator object RcPathTrajectory.h RcPathKnots.cc - code related to knot points RcPathKnots.h RcCurveX.cc - objects for creating spatial curves. RcCurveX.h testbed.cc - comprehensive test program, used for experiments simpleExamp.cc - simple example program postScript.c - support for PostScript output postScript.h testbed.opt - options file for the standard test program